cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2_PointMap_SegNetM)

#include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
#rosbuild_init()

# SET(CMAKE_BUILD_TYPE Debug)

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -g -march=native")

# Check C++11 or C++0x support
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 3 QUIET) #3.3.1
if(NOT OpenCV_FOUND)
   find_package(OpenCV 2.4.3 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
   endif()
endif()

find_package(Eigen3 3.1.0  REQUIRED) #3.1.0
find_package(Pangolin REQUIRED)

# adding for point cloud viewer and mapper
find_package( PCL 1.7 REQUIRED )
find_package(catkin REQUIRED COMPONENTS 
  roscpp
  sensor_msgs
  message_generation
  tf
)

find_package(Caffe HINTS "/home/yubao/data/software/install/caffe-segnet/share/Caffe/" )
add_definitions(${Caffe_DEFINITIONS})

include_directories(
    ${catkin_INCLUDE_DIRS}
    ${PROJECT_SOURCE_DIR}
    ${PROJECT_SOURCE_DIR}/include
    ${EIGEN3_INCLUDE_DIR}
    ${Pangolin_INCLUDE_DIRS}
    ${PCL_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
    # ${PROJECT_SOURCE_DIR}/Examples/ROS/ORB_SLAM2_PointMap_SegNetM/caffe-segnet-cudnn5/include 
#${PROJECT_SOURCE_DIR}/Examples/ROS/ORB_SLAM2_PointMap_SegNetM/caffe-segnet-cudnn5/build/include
    # /usr/local/include  
    /usr/local/cuda/include
    # /usr/include  
    ${PROJECT_SOURCE_DIR}/Examples/ROS/ORB_SLAM2_PointMap_SegNetM/libsegmentation
    ${Caffe_INCLUDE_DIRS}
)

#set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
add_library(${PROJECT_NAME} SHARED
    src/Camera.cc
    src/System.cc
    src/Tracking.cc
    src/LocalMapping.cc
    src/LoopClosing.cc
    src/ORBextractor.cc
    src/ORBmatcher.cc
    src/Converter.cc
    src/MapPoint.cc
    src/KeyFrame.cc
    src/Map.cc
    src/Optimizer.cc
    src/PnPsolver.cc
    src/Frame.cc
    src/KeyFrameDatabase.cc
    src/Sim3Solver.cc
    src/Initializer.cc
    src/Viewer.cc
    src/PangolinViewer.cc
    src/FrameDrawer.cc
    src/MapDrawer.cc
    src/pointcloudmapping.cc
    src/Segment.cc
)

target_link_libraries(${PROJECT_NAME}
    ${OpenCV_LIBS}
    ${EIGEN3_LIBS}
    ${Pangolin_LIBRARIES}
    ${PCL_LIBRARIES}
    ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
    ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
# ${PROJECT_SOURCE_DIR}/Examples/ROS/ORB_SLAM2_PointMap_SegNetM/caffe-segnet-cudnn5/lib/libcaffe.so  
#/usr/lib/x86_64-linux-gnu/libglog.so  
#/home/yubao/software/lib/libglog.so  
    -lboost_system
    ${PROJECT_SOURCE_DIR}/Examples/ROS/ORB_SLAM2_PointMap_SegNetM/libsegmentation/build/libsegmentation.so
    ${catkin_LIBRARIES}
    glog
    ${Caffe_LIBRARIES}
)

